Two-stage fastener installation

Abstract

A method and apparatus for installing a fastener. A reactive structural force is generated in a first direction during installation of the fastener. A new reactive structural force is generated in a second direction opposite to the first direction during the installation of the fastener.

What is claimed is: 
     
       1. A method for installing a fastener, the method comprising:
 generating a reactive structural force in a first direction during installation of the fastener by a first robotic device having a first tool and a second robotic device having a second tool, wherein a number of controllers control the first robotic device and the second robotic device to generate the reactive structural force in the first direction; and 
 generating a new reactive structural force in a second direction opposite to the first direction during the installation of the fastener by the first robotic device having the first tool and the second robotic device having the second tool, wherein the number of controllers control the first robotic device and the second robotic device to generate the new reactive structural force in the second direction, wherein generating the new reactive structural force comprises: 
 
       generating the new reactive structural force substantially equal to a difference between a new first force being applied to a head of the fastener in a hole extending through two parts and a new second force being applied to an end of the fastener. 
     
     
       2. The method of  claim 1 , wherein generating the reactive structural force comprises:
 generating the reactive structural force substantially equal to a difference between a first force being applied to the head of the fastener in the hole extending through the two parts and a second force that is applied to the end of the fastener. 
 
     
     
       3. The method of  claim 1 , wherein generating the reactive structural force comprises:
 applying a first force to the head of the fastener in the hole extending through the two parts; and 
 applying a second force that is less than the first force to the end of the fastener; and 
 compensating for a force differential between the first force and the second force using the reactive structural force to maintain a force equilibrium. 
 
     
     
       4. The method of  claim 3 , wherein generating the new reactive structural force comprises:
 applying the new first force to the head of the fastener; and 
 applying the new second force that is greater than the new first force to the end of the fastener; and 
 compensating for a new force differential between the new first force and the new second force using the new reactive structural force to maintain a new force equilibrium. 
 
     
     
       5. The method of  claim 1 , wherein the fastener is a rivet. 
     
     
       6. An apparatus comprising:
 a first robotic device having a first tool; 
 a second robotic device having a second tool; and 
 a number of controllers that control the first robotic device and the second robotic device to perform a two-stage process for installing a fastener, comprising:
 generating a reactive structural force in a first direction during installation of the fastener by the first robotic device having the first tool and the second robotic device having the second tool, wherein the number of controllers control the first robotic device and the second robotic device to generate the reactive structural force in the first direction, and 
 generating a new reactive structural force in a second direction opposite to the first direction during the installation of the fastener by the first robotic device having the first tool and the second robotic device having the second tool, wherein the number of controllers control the first robotic device and the second robotic device to generate the new reactive structural force in the second direction, wherein generating the new reactive structural force comprises generating the new reactive structural force substantially equal to a difference between a new first force being applied to a head of the fastener in a hole extending through two parts and a new second force being applied to an end of the fastener. 
 
 
     
     
       7. The apparatus of  claim 6 , wherein the two-stage process for installing the fastener is a two-stage riveting process. 
     
     
       8. The apparatus of  claim 7 , wherein the first tool is a first riveting tool associated with the first robotic device and the second tool is a second riveting tool associated with the second robotic device. 
     
     
       9. The apparatus of  claim 8 , wherein the first riveting tool is a hammer and the second riveting tool is a bucking bar. 
     
     
       10. The apparatus of  claim 6 , wherein the number of controllers comprises:
 a first controller that controls the first robotic device; and 
 a second controller that controls the second robotic device. 
 
     
     
       11. The apparatus of  claim 6 , wherein the number of controllers is associated with at least one of the first robotic device or the second robotic device. 
     
     
       12. The apparatus of  claim 6 , wherein the number of controllers control the first robotic device and the second robotic device to maintain a force equilibrium during a first stage of the two-stage process for installing the fastener and a new force equilibrium during a second stage of the two-stage process for installing the fastener. 
     
     
       13. The apparatus of  claim 6  further comprising:
 an external mobile platform, wherein the first robotic device is an external robotic device associated with the external mobile platform. 
 
     
     
       14. The apparatus of  claim 6  further comprising:
 an internal mobile platform, wherein the second robotic device is an internal robotic device associated with the internal mobile platform. 
 
     
     
       15. The apparatus of  claim 6  further comprising:
 a first clamping device associated with the first robotic device; and 
 a second clamping device associated with the second robotic device. 
 
     
     
       16. The apparatus of  claim 15 , wherein the first clamping device and the second clamping device are used to clamp a first part and a second part together prior to a first force being applied to a first end of the fastener and wherein the first part and the second part are unclamped prior to a second force being applied to a second end of the fastener. 
     
     
       17. An apparatus comprising:
 a plurality of parts; 
 a hole extending through the plurality of parts; 
 a partially formed fastener having an interference fit with at least a portion of the hole; 
 a first robotic device having a first tool; 
 a second robotic device having a second tool; and 
 a number of controllers that control the first robotic device and the second robotic device to perform a two-stage process for installing the partially formed fastener, comprising:
 generating a reactive structural force in a first direction during installation of the fastener by the first robotic device having the first tool and the second robotic device having the second tool, wherein the number of controllers control the first robotic device and the second robotic device to generate the reactive structural force in the first direction, wherein generating the reactive structural force comprises: applying a first force to a head of the fastener in the hole extending through the plurality of parts, applying a second force that is less than the first force to an end of the fastener, and compensating for a force differential between the first force and the second force using the reactive structural force to maintain a force equilibrium, and 
 generating a new reactive structural force in a second direction opposite to the first direction during the installation of the fastener by the first robotic device having the first tool and the second robotic device having the second tool, wherein the number of controllers control the first robotic device and the second robotic device to generate the new reactive structural force in the second direction, wherein generating the new reactive structural force comprises: applying a new first force to the head of the fastener, applying a new second force that is greater than the new first force to the end of the fastener, and compensating for a new force differential between the new first force and the new second force using the new reactive structural force to maintain a new force equilibrium. 
 
 
     
     
       18. The apparatus of  claim 17 , wherein the partially formed fastener has the interference fit with at least one of a countersink portion of the hole, a counterbore portion of the hole, or at least a portion of an elongated portion of the hole. 
     
     
       19. The apparatus of  claim 17 , wherein the partially formed fastener is a partially formed rivet. 
     
     
       20. The apparatus of  claim 17  further comprising:
 a first clamping device associated with the first robotic device; and 
 a second clamping device associated with the second robotic device.